Pub Date : 2022-08-06DOI: 10.1109/ROMA55875.2022.9915687
M. Zaki, C. Sovuthy, I. Elamvazuthi, Tindyo Prasetyo, S. Su, Syed Saad Azhar Ali
A simulation study on oil rigs inspection via virtual reality system using drones aiming to increase the efficiency of the work done during the pandemic era is presented. The usage of drones in virtual reality environment does not only provide sufficient on-site training for the operators, also able to reduce time consumption and labor demands in carrying out inspections and eliminate errors of drone crashing and hazards. Thus, this project covers the construction of virtual simulation framework using drones via Unity 3D, an open-source game engine and multi-rotor drones are selected as the drive mechanism due to its best maneuverability and stability. A 3D model of oil rig is constructed using Unity 3D that consist of equipment such as vessels, tanks, cranes, control rooms and flares like the real-life oil rigs. A 3D model of multi-rotor drone is also developed to produce a dynamic model that can wander around the oil platform. The process of scripting is done in Visual Studio 2019 using C# programming language which is one of the Unity 3D tools, making it essential for modelling and simulation development. Virtual reality features are gained with the presence of virtual headsets, static 3D modelling of oil rigs and dynamic 3D modelling of multi-rotor drones. The use of virtual reality system using drones in oil and gas platform has been successfully integrated to obtain the simulation result.
为提高疫情期间无人机对石油钻井平台的巡检效率，进行了虚拟现实系统的仿真研究。在虚拟现实环境中使用无人机，不仅可以为操作人员提供充分的现场培训，还可以减少进行检查的时间消耗和劳动力需求，消除无人机坠毁和危险的错误。因此，本项目采用Unity 3D软件搭建无人机虚拟仿真框架，采用开源游戏引擎，选择多旋翼无人机作为驱动机构，因为多旋翼无人机具有最佳的机动性和稳定性。使用Unity 3D构建石油钻井平台的3D模型，该模型由船舶、油箱、起重机、控制室和照明弹等设备组成，就像现实生活中的石油钻井平台一样。此外，还开发了多旋翼无人机的三维模型，以产生可以在石油平台周围徘徊的动态模型。脚本的过程是在Visual Studio 2019中使用c#编程语言完成的，c#编程语言是Unity 3D工具之一，这对于建模和仿真开发至关重要。通过虚拟耳机、石油钻井平台的静态三维建模和多旋翼无人机的动态三维建模，获得了虚拟现实特征。将无人机虚拟现实系统在油气平台上的应用进行了成功的集成，得到了仿真结果。
{"title":"Drone based Virtual Reality System for Inspection of Oil and Gas Platform","authors":"M. Zaki, C. Sovuthy, I. Elamvazuthi, Tindyo Prasetyo, S. Su, Syed Saad Azhar Ali","doi":"10.1109/ROMA55875.2022.9915687","DOIUrl":"https://doi.org/10.1109/ROMA55875.2022.9915687","url":null,"abstract":"A simulation study on oil rigs inspection via virtual reality system using drones aiming to increase the efficiency of the work done during the pandemic era is presented. The usage of drones in virtual reality environment does not only provide sufficient on-site training for the operators, also able to reduce time consumption and labor demands in carrying out inspections and eliminate errors of drone crashing and hazards. Thus, this project covers the construction of virtual simulation framework using drones via Unity 3D, an open-source game engine and multi-rotor drones are selected as the drive mechanism due to its best maneuverability and stability. A 3D model of oil rig is constructed using Unity 3D that consist of equipment such as vessels, tanks, cranes, control rooms and flares like the real-life oil rigs. A 3D model of multi-rotor drone is also developed to produce a dynamic model that can wander around the oil platform. The process of scripting is done in Visual Studio 2019 using C# programming language which is one of the Unity 3D tools, making it essential for modelling and simulation development. Virtual reality features are gained with the presence of virtual headsets, static 3D modelling of oil rigs and dynamic 3D modelling of multi-rotor drones. The use of virtual reality system using drones in oil and gas platform has been successfully integrated to obtain the simulation result.","PeriodicalId":121458,"journal":{"name":"2022 IEEE 5th International Symposium in Robotics and Manufacturing Automation (ROMA)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116910652","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-06DOI: 10.1109/ROMA55875.2022.9915682
S. M. Shithil, A. Faudzi, A. Abdullah, Najmul Islam, Shahril Mad Saad
Forestry and precision biodiversity data collection using UAVs can be cost-effective and time efficient solution. However, navigating in the forest canopy autonomously can be quite challenging because of its GPS denied environment, cluttered, dynamic, and large scale. Most of the commercial UAVs used in forest applications apply GPS-based navigation which is not suitable for navigating under the canopy. In this paper, an autonomous UAV flight mission in a cluttered forest-like canopy environment is presented. A robust multi-sensor fusion-based robust navigation method which has failure detection features is proposed to enable safe and reliable autonomous navigation. The autonomy architecture utilizes the navigation, planning, and control capabilities of the UAV in a simultaneous manner. To achieve autonomous missions in forest environment, the proposed system has been tested rigorously in a simulated environment and the result shows the capability of autonomous flights in such a challenging environment. The performance of the autonomous flight was evaluated based on mean velocity and path length with respect to the increasing number of trees in the forest.
{"title":"Robust Sensor Fusion for Autonomous UAV Navigation in GPS denied Forest Environment","authors":"S. M. Shithil, A. Faudzi, A. Abdullah, Najmul Islam, Shahril Mad Saad","doi":"10.1109/ROMA55875.2022.9915682","DOIUrl":"https://doi.org/10.1109/ROMA55875.2022.9915682","url":null,"abstract":"Forestry and precision biodiversity data collection using UAVs can be cost-effective and time efficient solution. However, navigating in the forest canopy autonomously can be quite challenging because of its GPS denied environment, cluttered, dynamic, and large scale. Most of the commercial UAVs used in forest applications apply GPS-based navigation which is not suitable for navigating under the canopy. In this paper, an autonomous UAV flight mission in a cluttered forest-like canopy environment is presented. A robust multi-sensor fusion-based robust navigation method which has failure detection features is proposed to enable safe and reliable autonomous navigation. The autonomy architecture utilizes the navigation, planning, and control capabilities of the UAV in a simultaneous manner. To achieve autonomous missions in forest environment, the proposed system has been tested rigorously in a simulated environment and the result shows the capability of autonomous flights in such a challenging environment. The performance of the autonomous flight was evaluated based on mean velocity and path length with respect to the increasing number of trees in the forest.","PeriodicalId":121458,"journal":{"name":"2022 IEEE 5th International Symposium in Robotics and Manufacturing Automation (ROMA)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129006905","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-06DOI: 10.1109/ROMA55875.2022.9915681
Sami Salama Hussen Hajjaj, Muhammad Hafizuddin Moktar
In recent years, efforts to harness wind power worldwide have accelerated. Researchers identified locations for potential Wind farms (with sufficient outputs) near the northern coastal regions. However, assuming these wind farms were built and power was generated, this power still needs to be transmitted to the end-user through the electrical Grid. Due to the remote locations of these farms, and the very nature of Wind Power, integrating this power into the Grid becomes a challenge. An alternative source of Wind Power could be the world’s vast network of superhighways and city roads. Recent studies in Malaysia showed that the annual aerodynamic energy loss of moving vehicles on Malaysian highways is estimated at 1.2 MTOE (Million Tons of Oil Equivalent, with 1 TOE =11.63MWh). In recent years, advances in Small-scale Wind energy Portable Turbines (SWEPT) have made them a viable option. Furthermore, the Internet of Things (IoT) could play a role in further enhancing these SWEPT units by connecting them to the cloud to enable remote monitoring and controlling. These IoT-SWEPT would allow developers and researchers to monitor deployed SWEPT units from anywhere and anytime, so long as they are connected and hold proper credentials. This paper reviews recent reports on these developments.
{"title":"Review of Recent Works on Internet of Things-enabled Small-scale Wind energy Portable Turbines (IoT-SWEPT) for Wind Energy","authors":"Sami Salama Hussen Hajjaj, Muhammad Hafizuddin Moktar","doi":"10.1109/ROMA55875.2022.9915681","DOIUrl":"https://doi.org/10.1109/ROMA55875.2022.9915681","url":null,"abstract":"In recent years, efforts to harness wind power worldwide have accelerated. Researchers identified locations for potential Wind farms (with sufficient outputs) near the northern coastal regions. However, assuming these wind farms were built and power was generated, this power still needs to be transmitted to the end-user through the electrical Grid. Due to the remote locations of these farms, and the very nature of Wind Power, integrating this power into the Grid becomes a challenge. An alternative source of Wind Power could be the world’s vast network of superhighways and city roads. Recent studies in Malaysia showed that the annual aerodynamic energy loss of moving vehicles on Malaysian highways is estimated at 1.2 MTOE (Million Tons of Oil Equivalent, with 1 TOE =11.63MWh). In recent years, advances in Small-scale Wind energy Portable Turbines (SWEPT) have made them a viable option. Furthermore, the Internet of Things (IoT) could play a role in further enhancing these SWEPT units by connecting them to the cloud to enable remote monitoring and controlling. These IoT-SWEPT would allow developers and researchers to monitor deployed SWEPT units from anywhere and anytime, so long as they are connected and hold proper credentials. This paper reviews recent reports on these developments.","PeriodicalId":121458,"journal":{"name":"2022 IEEE 5th International Symposium in Robotics and Manufacturing Automation (ROMA)","volume":"164 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129136690","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-06DOI: 10.1109/ROMA55875.2022.9915675
M. R. Rokon, S. Motakabber, A. Z. Zahirul Alam, M. H. Habaebi, M. A. Matin
This paper addresses the acces of multiprocessors into numerous blocks within an SoC (System-on-Chip). The process by which the processor, internal or external, gains the right to access different blocks on an ASIC is first they have issue an access to request a choice-making main block that determines the status of the grant to the processor. In a simple ASIC, a single processor is ideal enough to fulfil all itsd access needs, but dealing with a very complex and large ASIC requires several processors. In this type of case, it is difficult to design and extend the selection block that determines the access of the multi processor to the chip. There are many algorithms to adapt to this initiative. They all have strengths and weaknesses. The purpose of this research paper is to improve strengths and keep weaknesses away. The hardware RTL modelling of the proposed design has been done using Verilog HDL and verified by Verilog test bench. then implemented by the Xilinx Pegasus FPGA device. The Modelsim simulator and Cadence simulator, are both used simultaneously for simulation. The proposed system block can be assembled at any SoC and fabricated from a foundry. Xilinx Pegasus FPGA has been used to implement the hardware in this study and the results show good consistency with expectations and theories.
{"title":"Fairness in Multiprocessor Hardware Access to System-on-Chip","authors":"M. R. Rokon, S. Motakabber, A. Z. Zahirul Alam, M. H. Habaebi, M. A. Matin","doi":"10.1109/ROMA55875.2022.9915675","DOIUrl":"https://doi.org/10.1109/ROMA55875.2022.9915675","url":null,"abstract":"This paper addresses the acces of multiprocessors into numerous blocks within an SoC (System-on-Chip). The process by which the processor, internal or external, gains the right to access different blocks on an ASIC is first they have issue an access to request a choice-making main block that determines the status of the grant to the processor. In a simple ASIC, a single processor is ideal enough to fulfil all itsd access needs, but dealing with a very complex and large ASIC requires several processors. In this type of case, it is difficult to design and extend the selection block that determines the access of the multi processor to the chip. There are many algorithms to adapt to this initiative. They all have strengths and weaknesses. The purpose of this research paper is to improve strengths and keep weaknesses away. The hardware RTL modelling of the proposed design has been done using Verilog HDL and verified by Verilog test bench. then implemented by the Xilinx Pegasus FPGA device. The Modelsim simulator and Cadence simulator, are both used simultaneously for simulation. The proposed system block can be assembled at any SoC and fabricated from a foundry. Xilinx Pegasus FPGA has been used to implement the hardware in this study and the results show good consistency with expectations and theories.","PeriodicalId":121458,"journal":{"name":"2022 IEEE 5th International Symposium in Robotics and Manufacturing Automation (ROMA)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125098217","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-06DOI: 10.1109/ROMA55875.2022.9915661
A. R. M. Khairudin, Zafri Baharuddin, Hassan Mohamed, Muhamad Hazwan Abdul Md. Hafidz, Calvin Teh Jon Keith, A. Faudzi, Wessam Hamid
The significance of robots and artificial intelligence is gaining popularity, especially in education, industries and warehouse stores. This role can be further applied in sports and medical areas, where robots can imitate human movements and perspectives. An articulated robotic arm, motion controllers, and a vision-based targeting system are components of an archery robot’s robotic system. This paper highlights the development of the targeting system by comparing the OpenCV Circle Hough Transform (CHT) algorithm with the colour and contour detection algorithm. Using these algorithms, the robot was able to find the centre of the target in a pre-determined x-y plane viewed from a webcam, draw the arrow, and finally release the arrow. This paper proposes using a Universal Robot UR5 robotic arm with a standard gripper to shoot an arrow at a target using a detection algorithm. The gripper was chosen as it can perform a thumb draw style of shooting, using a single motor to grip and release the string. This paper also provides a proof of concept algorithm that can detect a target using a webcam at 87.56% accuracy and then control a UR5 manipulator to shoot an arrow to hit the target.
{"title":"Design And Control of an Articulated Robotic Arm for Archery","authors":"A. R. M. Khairudin, Zafri Baharuddin, Hassan Mohamed, Muhamad Hazwan Abdul Md. Hafidz, Calvin Teh Jon Keith, A. Faudzi, Wessam Hamid","doi":"10.1109/ROMA55875.2022.9915661","DOIUrl":"https://doi.org/10.1109/ROMA55875.2022.9915661","url":null,"abstract":"The significance of robots and artificial intelligence is gaining popularity, especially in education, industries and warehouse stores. This role can be further applied in sports and medical areas, where robots can imitate human movements and perspectives. An articulated robotic arm, motion controllers, and a vision-based targeting system are components of an archery robot’s robotic system. This paper highlights the development of the targeting system by comparing the OpenCV Circle Hough Transform (CHT) algorithm with the colour and contour detection algorithm. Using these algorithms, the robot was able to find the centre of the target in a pre-determined x-y plane viewed from a webcam, draw the arrow, and finally release the arrow. This paper proposes using a Universal Robot UR5 robotic arm with a standard gripper to shoot an arrow at a target using a detection algorithm. The gripper was chosen as it can perform a thumb draw style of shooting, using a single motor to grip and release the string. This paper also provides a proof of concept algorithm that can detect a target using a webcam at 87.56% accuracy and then control a UR5 manipulator to shoot an arrow to hit the target.","PeriodicalId":121458,"journal":{"name":"2022 IEEE 5th International Symposium in Robotics and Manufacturing Automation (ROMA)","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115744296","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-06DOI: 10.1109/ROMA55875.2022.9915676
M. F. Ghani, R. Ghazali, H. Jaafar, C. C. Soon, Ahmad Zawawi Jamaluddin, Zulfatman Has
In modern industrial applications, the advantages of an electrohydraulic actuator (EHA) system include a high power-to-load ratio, a precise trajectory with a rapid motion, and the ability to create a substantial amount of torque. Nevertheless, owing to its exceptionally high nonlinearity, the EHA system is difficult to control, especially in terms of position tracking. This work thus provides a robust optimized sliding mode controller (SMC) for effective tracking control. Utilizing the constant rate reaching law and Lyapunov stability theorem, the proposed controller achieves closed-loop stability. In addition, by substituting the signum function with hyperbolic tangent function, the chattering in the SMC controller was significantly decreased, and particle swarm optimization (PSO) was used to minimize the total absolute errors in order to achieve the variable design. The mean square error (MSE) and robustness index (RI) evaluations suggest that the proposed controller is, in fact, rather robust to internal leakage.
{"title":"Robust Optimized Sliding Mode Tracking Control of an Electrohydraulic Actuator System under Internal Leakage Flow Variation","authors":"M. F. Ghani, R. Ghazali, H. Jaafar, C. C. Soon, Ahmad Zawawi Jamaluddin, Zulfatman Has","doi":"10.1109/ROMA55875.2022.9915676","DOIUrl":"https://doi.org/10.1109/ROMA55875.2022.9915676","url":null,"abstract":"In modern industrial applications, the advantages of an electrohydraulic actuator (EHA) system include a high power-to-load ratio, a precise trajectory with a rapid motion, and the ability to create a substantial amount of torque. Nevertheless, owing to its exceptionally high nonlinearity, the EHA system is difficult to control, especially in terms of position tracking. This work thus provides a robust optimized sliding mode controller (SMC) for effective tracking control. Utilizing the constant rate reaching law and Lyapunov stability theorem, the proposed controller achieves closed-loop stability. In addition, by substituting the signum function with hyperbolic tangent function, the chattering in the SMC controller was significantly decreased, and particle swarm optimization (PSO) was used to minimize the total absolute errors in order to achieve the variable design. The mean square error (MSE) and robustness index (RI) evaluations suggest that the proposed controller is, in fact, rather robust to internal leakage.","PeriodicalId":121458,"journal":{"name":"2022 IEEE 5th International Symposium in Robotics and Manufacturing Automation (ROMA)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133155419","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-06DOI: 10.1109/ROMA55875.2022.9915658
Li Tung Tan, Raihanah Syamimi Mohammad Shahrizal, M. F. M. Nadzri, N. Yahya, S. B. Hisham
Regular healthcare center visit can be very chal-lenging for elderly and patients residing in rural areas. This is because most elderly suffers from disability while patients from rural areas need to travel for a long distance to the healthcare center. To overcome this issue, this paper proposed a remote patient monitoring system (RPMS), a low-cost wearable wrist band that utilizes set of technologies and practices enabling healthcare providers to track the patients’ health data changes in real-time even from a distance. The RPMS collect the patient’s body vitals data including body temperature, heart rate, oxygen saturation level, and position to allow the healthcare providers to identify any potential diseases of the patient and use it in the preparation of a treatment plan. The location of patient would also be captured using Global Positioning System to allow immediate medical attention in the event of emergency. The RPMS proposed is also capable of sending the data to the cloud and display the data in the mobile app. Simple diagnostic using thresholding method is also carried out and reflected in the mobile app.
{"title":"Remote Patient Monitoring System","authors":"Li Tung Tan, Raihanah Syamimi Mohammad Shahrizal, M. F. M. Nadzri, N. Yahya, S. B. Hisham","doi":"10.1109/ROMA55875.2022.9915658","DOIUrl":"https://doi.org/10.1109/ROMA55875.2022.9915658","url":null,"abstract":"Regular healthcare center visit can be very chal-lenging for elderly and patients residing in rural areas. This is because most elderly suffers from disability while patients from rural areas need to travel for a long distance to the healthcare center. To overcome this issue, this paper proposed a remote patient monitoring system (RPMS), a low-cost wearable wrist band that utilizes set of technologies and practices enabling healthcare providers to track the patients’ health data changes in real-time even from a distance. The RPMS collect the patient’s body vitals data including body temperature, heart rate, oxygen saturation level, and position to allow the healthcare providers to identify any potential diseases of the patient and use it in the preparation of a treatment plan. The location of patient would also be captured using Global Positioning System to allow immediate medical attention in the event of emergency. The RPMS proposed is also capable of sending the data to the cloud and display the data in the mobile app. Simple diagnostic using thresholding method is also carried out and reflected in the mobile app.","PeriodicalId":121458,"journal":{"name":"2022 IEEE 5th International Symposium in Robotics and Manufacturing Automation (ROMA)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114517491","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-06DOI: 10.1109/ROMA55875.2022.9915693
Muhammad Lut Liwauddin, M. A. Ayob, Nurasyeera Rohaziat
A shortcoming noted in fused deposition modelling (FDM) 3D printing technology refers to lack of intelligent monitoring and intervention during the printing process. Fail prints can still occur during the printing procedure even though the printer is of industrial grade and far more expensive than that of hobby grades. Under extrusion has been determined as one of the frequent failures in 3D printing. Such failure stems from insufficient extrusion rate and/or inadequate melting temperature of filament during the print. Under extrusion failure may result in undesired layer gaps, missing layers, unbalanced layers, and even holes in the printed models that would make the models completely unusable. Hence, an effective method that can reduce waste materials and overall costs is by integrating artificial intelligence (AI) into 3D printers. However, a large dataset is required prior to the training process of deep learning. Hence, this study proposes an automated and continuous data collection of under extrusion samples in FDM 3D printers using Raspberry Pi and webcam. As a result, adjustment of the G-code of the standard tessellation language (STL) models and repeated process of printing 3D models can effectively achieve the desired images.
{"title":"Continuous Data Collection of Under Extrusion in FDM 3D Printers for Deep-Learning Dataset","authors":"Muhammad Lut Liwauddin, M. A. Ayob, Nurasyeera Rohaziat","doi":"10.1109/ROMA55875.2022.9915693","DOIUrl":"https://doi.org/10.1109/ROMA55875.2022.9915693","url":null,"abstract":"A shortcoming noted in fused deposition modelling (FDM) 3D printing technology refers to lack of intelligent monitoring and intervention during the printing process. Fail prints can still occur during the printing procedure even though the printer is of industrial grade and far more expensive than that of hobby grades. Under extrusion has been determined as one of the frequent failures in 3D printing. Such failure stems from insufficient extrusion rate and/or inadequate melting temperature of filament during the print. Under extrusion failure may result in undesired layer gaps, missing layers, unbalanced layers, and even holes in the printed models that would make the models completely unusable. Hence, an effective method that can reduce waste materials and overall costs is by integrating artificial intelligence (AI) into 3D printers. However, a large dataset is required prior to the training process of deep learning. Hence, this study proposes an automated and continuous data collection of under extrusion samples in FDM 3D printers using Raspberry Pi and webcam. As a result, adjustment of the G-code of the standard tessellation language (STL) models and repeated process of printing 3D models can effectively achieve the desired images.","PeriodicalId":121458,"journal":{"name":"2022 IEEE 5th International Symposium in Robotics and Manufacturing Automation (ROMA)","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124967117","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-06DOI: 10.1109/ROMA55875.2022.9915684
Muhammad Razmi Bin Razali, A. Faudzi, Abu Ubaidah bin Shamsudin
Analyzing unstructured gain data has been a growing interest among researchers, resulting in valuable information in many fields such as path planning, and others. Furthermore, the Fuzzy Logic Controller (FLC) has simplified the managing unstructured gain data on the simulator such as Gazebo. FLC and PID controller can be used as a solution to recognize path planning entities in the collision-free environment based on heuristic solution. However, without proper selection of unstructured gain data of PID such as proportional, derivative and integral, the performance maybe compromised. In this paper, PID and FLC is designed in series for position and angular control to overcome the multi-representation and the problem of uncertainty contexts. It will be able to recognize the Fuzzy Tuned PID controller gains with limited supervised data accurately and take fast and precise intervention. The efficient and precise algorithms help the mobile robot to take immediate and appropriate intervention, thus helping to preserve the path planning. Finally, in line with the FLC and PID controller, this study will fulfill two elements in the Control Signal Distance (CSD) and Control Signal Angle (CSA) to produce precise and optimal mobile robot path tracking.
{"title":"Position and Angular control using Fuzzy Tuned PID Controller for Mobile Robot Path Tracking","authors":"Muhammad Razmi Bin Razali, A. Faudzi, Abu Ubaidah bin Shamsudin","doi":"10.1109/ROMA55875.2022.9915684","DOIUrl":"https://doi.org/10.1109/ROMA55875.2022.9915684","url":null,"abstract":"Analyzing unstructured gain data has been a growing interest among researchers, resulting in valuable information in many fields such as path planning, and others. Furthermore, the Fuzzy Logic Controller (FLC) has simplified the managing unstructured gain data on the simulator such as Gazebo. FLC and PID controller can be used as a solution to recognize path planning entities in the collision-free environment based on heuristic solution. However, without proper selection of unstructured gain data of PID such as proportional, derivative and integral, the performance maybe compromised. In this paper, PID and FLC is designed in series for position and angular control to overcome the multi-representation and the problem of uncertainty contexts. It will be able to recognize the Fuzzy Tuned PID controller gains with limited supervised data accurately and take fast and precise intervention. The efficient and precise algorithms help the mobile robot to take immediate and appropriate intervention, thus helping to preserve the path planning. Finally, in line with the FLC and PID controller, this study will fulfill two elements in the Control Signal Distance (CSD) and Control Signal Angle (CSA) to produce precise and optimal mobile robot path tracking.","PeriodicalId":121458,"journal":{"name":"2022 IEEE 5th International Symposium in Robotics and Manufacturing Automation (ROMA)","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116263445","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-06DOI: 10.1109/ROMA55875.2022.9915664
H. Amin, Y. Hafeez, M. F. Reza, Syed Hasan Adil, Rumaisa Abu Hasan, Syed Saad Azhar Ali
In this study, cortical brain activity during a pattern matching task (PMT) was measured by employing electroencephalography (EEG). The EEG data were recorded from 128 scalp locations during a pattern-matching task and in rest conditions (eyes open and eyes closed). Spectral Analysis of EEG frequency bands reflected a significant (p<0.025) difference between baseline and PMT task. The EEG activity in slow waves (delta: 0.5 to 3 Hz and theta: 4 to 7 Hz) was high during PMT in frontal regions, while EEG activity in fast waves (Beta: 14 to 20 Hz and Gamma: 21 to 30 Hz) was reduced in parietal and occipital regions as compared to the frontal region. The changes in EEG medium waves (alpha: 8 to 13 Hz) was high in frontal, central, and temporal regions, while depressed in parietal, parieto-occipital and occipital regions. The results show high cortical activations in different brain regions during solving pattern-matching task as compared to baseline resting conditions. The study has implications for thinking and decision-making situation, such as object recognition, visual comparison, and consumer choice.
{"title":"EEG Feature Extraction with Fast Fourier Transform for Investigating different Brain regions in Cognitive and Reasoning Activity","authors":"H. Amin, Y. Hafeez, M. F. Reza, Syed Hasan Adil, Rumaisa Abu Hasan, Syed Saad Azhar Ali","doi":"10.1109/ROMA55875.2022.9915664","DOIUrl":"https://doi.org/10.1109/ROMA55875.2022.9915664","url":null,"abstract":"In this study, cortical brain activity during a pattern matching task (PMT) was measured by employing electroencephalography (EEG). The EEG data were recorded from 128 scalp locations during a pattern-matching task and in rest conditions (eyes open and eyes closed). Spectral Analysis of EEG frequency bands reflected a significant (p<0.025) difference between baseline and PMT task. The EEG activity in slow waves (delta: 0.5 to 3 Hz and theta: 4 to 7 Hz) was high during PMT in frontal regions, while EEG activity in fast waves (Beta: 14 to 20 Hz and Gamma: 21 to 30 Hz) was reduced in parietal and occipital regions as compared to the frontal region. The changes in EEG medium waves (alpha: 8 to 13 Hz) was high in frontal, central, and temporal regions, while depressed in parietal, parieto-occipital and occipital regions. The results show high cortical activations in different brain regions during solving pattern-matching task as compared to baseline resting conditions. The study has implications for thinking and decision-making situation, such as object recognition, visual comparison, and consumer choice.","PeriodicalId":121458,"journal":{"name":"2022 IEEE 5th International Symposium in Robotics and Manufacturing Automation (ROMA)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114710662","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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